A heartbroken Nelson Mandela has pulled out of today's football World Cup opening ceremony in South Africa after the death of his great-granddaughter in a car crash.

Zenani Mandela, 13, was killed on the way home from last night's pre-tournament concert in Soweto, where tens of thousands of people sang and danced with pop stars including Shakira and the Black Eyed Peas.

It meant that a day the frail Mandela had long anticipated – his "rainbow nation" performing a new miracle under the world's gaze – became instead one of private grief and mourning.

Mandela with Zenani, 13, who was killed in a car crash. Photograph: Ho/Reuters Ho/REUTERS

A spokesman for the South African organising committee said: "Mr Nelson Mandela this morning learned of the tragic death in an accident of his great-granddaughter, Zenani Mandela.

"It would therefore be inappropriate for him to personally attend the Fifa World Cup opening celebrations."

The spokesman added: "We are sure that South Africans and people all over the world will stand in solidarity with Mr Mandela and his family in the aftermath of this tragedy."

The planned appearance by South Africa's first democratically elected president, who turns 92 next month, before the opening match at Soccer City had been expected to put the seal on Africa's moment of history.

Zenani, who celebrated her 13th birthday on 9 June, was one of his nine great-grandchildren. She died in a one-car accident and no one else was injured.

Her mother, Zoleka Seakamela, was "devastated", said Vuyisile Mafalala, a family spokesperson.

Mandela's ex-wife, Winnie Madikizela-Mandela, was not in the car but was treated for shock.

The Nelson Mandela Foundation said Mandela and his family were "torn up" by the accident. It added: "The family has asked for privacy as they mourn this tragedy."

A spokesman added that Mandela would be at the ceremony in spirit.

Johannesburg police spokeswoman Edna Mamonyane said the driver of the car involved, a male, had been arrested and charged with drink-driving. Mamonyane said the driver could also face culpable homicide charges and is due to appear in the Johannesburg jmagistrates court today.

"The Metro police found that he was drunk," Mamonyane said. "He lost control of the vehicle and it collided with a barricade."

The ANC said it was "deeply saddened" by the tragedy. "Our deepest condolences go to her family and close friends as they mourn this tragedy," said a party spokesman.

The news clouded what should have been a South African celebration to rank with the first multiracial elections of 1994.

At last night's pre-tournament concert, South African president Jacob Zuma also took to the stage and thanked South Africans for the welcome they have given World Cup fans, and called on them "to show the warmness for the whole duration of the tournament".

Before today's first match – between the host country and Mexico – 1,581 performers will take part in an opening ceremony broadcast around the world in more than 200 countries.

This morning the streets leading to Soccer City, where gates opened at 10am local time amid high security, are teeming with cars waving national flags and vuvuzelas. A steady stream of fans in South African colours can be seen walking to the ground. A police helicopter hovered above the 94,700-seat stadium, which is covered in clay-coloured panels to resemble an African calabash pot.

Armoured personnel carriers were seen on the streets, with armed troops watching traffic and stopping cars. Ticketless fans will head to the Fan Fests at venues around the country to watch on giant screens.